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Harmati, I.
On drift neutralization of six legged robot
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This paper addresses the motion planning problem (MPP) on the kinematic
model of six-legged robots. It is assumed that nonholonomic constraints and
drift are present which make the motion planning nontrivial while the stratified
nature requires additional attention to path planning. An algorithm to
drift neutralization derived from stratified framework to six-legged robot is
proposed. The algorithm yields generally an approximation. The main motivation
is to move the robot along a reference path that assists resolving obstacle
avoidance problem. Configuration switching is supported by the use of supervisory
control theory. The results are illustrated on a simple kinematic model
of six-legged robot.
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Irányítástechnika és Informatika Tanszék (BME / VIK)
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Emerging Trends in Mobile Robotics
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<div class="BookChapter Publication short-list"> <div class="authors"> <span class="author-name" mtid="10012730"> <a href="/gui2/?type=authors&mode=browse&sel=10012730" target="_blank">Harmati, I.</a> </span> <span class="author-type"> </span> ; <span class="author-name" mtid="10041125"> <a href="/gui2/?type=authors&mode=browse&sel=10041125" target="_blank">Kovacs, G.</a> </span> <span class="author-type"> </span> </div ><div class="title"><a href="/gui2/?mode=browse¶ms=publication;2656671" mtid="2656671" target="_blank">On drift neutralization of six legged robot</a></div> <div class="InBook">In: H, Fujimoto; M O, Tokhi; H, Mochiyama; G S, Virk (szerk.) <span class="booktitle"><a href="/gui2/?mode=browse¶ms=publication;2656670" target="_blank">Emerging Trends in Mobile Robotics </a></span > </div><div class="pub-info"> <span class="publishedAt">Singapore, Szingapúr : <span class="publisher">World Scientific</span> <span class="year">(2010)</span> <span class="page"> pp. 614-621. , 8 p. </span> </div> <div class="pub-end"><div class="identifier-list"> <span class="identifiers"> <span class="id identifier oa_none" title="none"> <span class="isbnOrIssn"> ISBN: </span> <a style="color:black" title="9789814327978" target="_blank" href="https://www.worldcat.org/search?q=isbn%3A9789814327978"> 9789814327978 </a> </span> <span class="id identifier oa_none" title="none"> <a style="color:blue" title="000394404600076" target="_blank" href="https://www.webofscience.com/wos/woscc/full-record/000394404600076"> WoS </a> </span> <span class="id identifier oa_none" title="none"> <a style="color:black" title="http://mycite.omikk.bme.hu/doc/92948.pdf" target="_blank" href="http://mycite.omikk.bme.hu/doc/92948.pdf"> Teljes dokumentum </a> </span> <span class="id identifier oa_none" title="none"> <a style="color:black" title="10890/4097" target="_blank" href="http://hdl.handle.net/10890/4097"> Handle </a> </span> </span> </div> <div class="short-pub-prop-list"> <span class="short-pub-mtid"> Közlemény:2656671 </span> <span class="status-holder"><span class="status-data status-APPROVED"> Nyilvános </span></span> <span class="pub-core">Forrás </span> <span class="pub-type">Egyéb konferenciaközlemény (Konferenciaközlemény ) </span> <!-- && !record.category.scientific --> <span class="pub-category">Tudományos</span> </div> </div> </div><div class="BookChapter Publication long-list"> <div class="authors"> <img title="Forrásközlemény" style="float: left" src="/frontend/resources/grid/publication-core-icon.png"> <div class="autype autype0"> <span class="author-name" mtid="10012730"><a href="/gui2/?type=authors&mode=browse&sel=10012730" target="_blank">Harmati I. (<span class="authorship-author-name">Harmati István</span> <span class="authorAux-mtmt"> Irányításelmélet</span>) </a> </span> <span class="author-affil"><span title="Budapesti Műszaki és Gazdaságtudományi Egyetem">BME</span>/<span title="Villamosmérnöki és Informatikai Kar">VIK</span>/Irányítástechnika és Informatika Tanszék</span> ; <span class="author-name" mtid="10041125"><a href="/gui2/?type=authors&mode=browse&sel=10041125" target="_blank">Kovacs G. (<span class="authorship-author-name">Kovács Gábor</span> <span class="authorAux-mtmt"> Rendszerdiagnosztika</span>) </a> </span> <span class="author-affil"><span title="Budapesti Műszaki és Gazdaságtudományi Egyetem">BME</span>/<span title="Villamosmérnöki és Informatikai Kar">VIK</span>/Irányítástechnika és Informatika Tanszék</span> </div> </div> <div class="title"><a href="/gui2/?mode=browse¶ms=publication;2656671" target="_blank">On drift neutralization of six legged robot</a></div> <div class="InBook"><div class="chapter-in">In:</div> <div class="authors"> <div class="autype autype-1"> <span class="author-name" >H Fujimoto </span> ; <span class="author-name" >M O Tokhi </span> ; <span class="author-name" >H Mochiyama </span> ; <span class="author-name" >G S Virk </span> (szerk.) </div> </div> <div class="booktitle"><a href="/gui2/?mode=browse¶ms=publication;2656670" target="_blank">Emerging Trends in Mobile Robotics </a></div> <div class="conference"> Konferencia helye, ideje: <span class="location">Nagoya, Japán <span class="conference-date">2010.08.31. - 2010.09.03.</span> </div> <span class="publishedAt">Singapore: <span class="publishers">World Scientific</span>, <span class="page"> pp 614-621 </span> <span class="year">(2010)</span> </div> <div class="pub-footer"> <span class="language" xmlns="http://www.w3.org/1999/html">Nyelv: Angol | </span> <span class="identifiers"> <span class="id identifier oa_none" title="none"> <span class="isbnOrIssn"> ISBN: </span> <a style="color:black" title="9789814327978" target="_blank" href="https://www.worldcat.org/search?q=isbn%3A9789814327978"> 9789814327978 </a> </span> <span class="id identifier oa_none" title="none"> <a style="color:blue" title="000394404600076" target="_blank" href="https://www.webofscience.com/wos/woscc/full-record/000394404600076"> WoS </a> </span> <span class="id identifier oa_none" title="none"> <a style="color:black" title="http://mycite.omikk.bme.hu/doc/92948.pdf" target="_blank" href="http://mycite.omikk.bme.hu/doc/92948.pdf"> Teljes dokumentum </a> </span> <span class="id identifier oa_none" title="none"> <a style="color:black" title="10890/4097" target="_blank" href="http://hdl.handle.net/10890/4097"> Handle </a> </span> </span> <div class="mtid"><span class="long-pub-mtid">Közlemény: 2656671</span> | <span class="status-data status-APPROVED"> Nyilvános </span> <span class="long-book-mtid">Befoglaló: 2656670</span> <span class="oldId">Régi azonosító: 2656671</span> | <span class="oldId">Befoglaló: 2656670</span> Forrás | <span class="type-subtype">Egyéb konferenciaközlemény ( Konferenciaközlemény ) </span> | <span class="pub-category">Tudományos</span> | <span class="publication-sourceOfData">kézi felvitel</span> </div> <div class="lastModified">Utolsó módosítás: 2023.01.04. 22:35 Harmati István (Irányításelmélet) </div> </div> </div>